topics:
  gps     :   global_position/global
  battery :   battery
  status  :   state
  estatus :   extended_state
  fcclient:   cmd/command
  setpoint:   setpoint_position/local
  armclient:  cmd/arming
  modeclient: set_mode
  localpos: local_position/pose
  stream:  set_stream_rate
  altitude: global_position/rel_alt